in this paper, finding dynamic load carrying capacity (dlcc) of flexible link manipulators in point to-point motion was formulated as an optimal control problem. the finite element method was employed for modelling and deriving the dynamic equations of the system. the study employed indirect solution of optimal control for system motion planning. due to offline nature of the method, many diffic...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

pontryagin's principle is used to study the shape of the supersonic part of the nozzle of a carbon dioxide gas-dynamic laser whose gain is maximal. the exact shape is obtained for the uncoupled approximation of anderson's bimodal model. in this case, if sharp corners are allowed, the ceiling of the supersonic part consists of a slant rectangular sheet followed by a horizontal one; oth...

Theorem (PontryaginMaximum Principle). Suppose a final time T and controlstate pair (û, x̂) on [τ, T ] give the minimum in the problem above; assume that û is piecewise continuous. Then there exist a vector of Lagrange multipliers (λ0, λ) ∈ R × R with λ0 ≥ 0 and a piecewise smooth function p: [τ, T ] → R n such that the function ĥ(t) def =H(t, x̂(t), p(t), û(t)) is piecewise smooth, and one has ̇̂ ...

We provide an improvement of the maximum principle Pontryagin Optimal Control problems. establish differentiability properties value function problems with assumptions as low possible. Notably, we lighten by using G\^ateaux and Hadamard differentials.

The Dubins interval problem aims to find the shortest path of bounded curvature between two targets such that the departure angle from the first target and the arrival angle at the second target are constrained to two respective intervals. We propose a new and a simple algorithm to this problem based on the minimum principle of Pontryagin.

Applying the Tubular Neighborhood Theorem, we give a short and new proof of the Pontryagin Maximum Principle on a smooth manifold. The idea is as follows. Given a control system on a manifold M , we embed it into an open subset of some Rn, and extend the control system to the open set. Then, we apply the Pontryagin Maximum Principle on Rn to the extended system and project the consequence to M ...